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Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
Emerging reconfigurable datacenters allow to dynamically adjust the network topology in a demand-aware manner. These datacenters rely on optical switches which can be reconfigured to provide direct connectivity between racks, in the form of…
Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…
This paper considers single-machine scheduling problems in which a given solution, i.e. an ordered set of jobs, has to be improved as much as possible by re-sequencing the jobs. The need for rescheduling may arise in different contexts,…
The NP-complete combinatorial optimization task of assigning offsets to a set of buffers with known sizes and lifetimes so as to minimize total memory usage is called dynamic storage allocation (DSA). Existing DSA implementations bypass the…
In a robotic mobile fulfillment system, robots bring shelves, called pods, with storage items from the storage area to pick stations. At every pick station there is a person -- the picker -- who takes parts from the pod and packs them into…
Ride sharing - the bundling of simultaneous trips of several people in one vehicle - may help to reduce the carbon footprint of human mobility. However, standard door-to-door ride sharing services trade reduced route length for increased…
Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…
In this study, a cluster-computing environment is employed as a computational platform. In order to increase the efficiency of the system, a dynamic task scheduling algorithm is proposed, which balances the load among the nodes of the…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
Clustering aims to group unlabeled objects based on similarity inherent among them into clusters. It is important for many tasks such as anomaly detection, database sharding, record linkage, and others. Some clustering methods are taken as…
We address a dynamic repair shop scheduling problem in the context of military aircraft fleet management where the goal is to maintain a full complement of aircraft over the long-term. A number of flights, each with a requirement for a…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
The further development of deep neural networks is hampered by the limited GPU memory resource. Therefore, the optimization of GPU memory resources is highly demanded. Swapping and recomputation are commonly applied to make better use of…
With the advent of virtualization technology, cloud computing realizes on-demand computing. The capability of dynamic resource provisioning is a fundamental driving factor for users to adopt the cloud technology. The aspect is important for…